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[wpilibc] Add unit-aware Joystick.GetDirection() (#5319)

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This commit is contained in:
Ryan Blue
2023-05-26 00:43:52 -04:00
committed by GitHub
parent 073d19cb69
commit 282c032b60
3 changed files with 65 additions and 0 deletions
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8
wpilibc/src/main/native/cpp/Joystick.cpp
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@@ -8,6 +8,8 @@
#include <numbers>
#include <hal/FRCUsageReporting.h>
#include <units/dimensionless.h>
#include <units/math.h>
#include "frc/event/BooleanEvent.h"
@@ -124,5 +126,11 @@ double Joystick::GetDirectionRadians() const {
}
double Joystick::GetDirectionDegrees() const {
WPI_IGNORE_DEPRECATED
return (180 / std::numbers::pi) * GetDirectionRadians();
}
units::radian_t Joystick::GetDirection() const {
return units::math::atan2(units::dimensionless::scalar_t{GetX()},
units::dimensionless::scalar_t{-GetY()});
}